/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef SLAM_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_
#define SLAM_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_

#include "Eigen/Core"
#include "slam/io/proto_stream_interface.h"
#include "slam/mapping/pose_graph.h"
#include "slam/mapping/proto/trajectory_builder_options.pb.h"
#include "slam/io/file_writer.h"
#include "slam/io/image.h"
#include "slam/mapping/2d/map_limits.h"
#include "slam/io/proto_stream.h"
#include "slam/io/proto_stream_deserializer.h"

namespace slam {
namespace io {

// The current serialization format version.
static constexpr int kMappingStateSerializationFormatVersion = 2;
static constexpr int kFormatVersionWithoutSubmapHistograms = 1;

// Serialize mapping state to a pbstream.
void WritePbStream(
    const mapping::PoseGraph& pose_graph,
    const std::vector<mapping::proto::TrajectoryBuilderOptionsWithSensorIds>&
        builder_options,
    ProtoStreamWriterInterface* const writer, bool include_unfinished_submaps,
    const bool include_grid_map, const bool include_point_cloud);

void WritePgm(const Image& image, const double resolution, FileWriter* file_writer);

// Write the corresponding yaml into 'file_writer'.
void WriteYaml(const double resolution, const Eigen::Vector2d& origin,
    const std::string& pgm_filename,
    FileWriter* file_writer);

void PbstreamToPgm(const std::string& pbstream_filename, 
		const std::string& map_filename, 
		const double resolution);

void WriteYaml(FileWriter *file_writer,slam::transform::Rigid3d init_pose);

void WriteYaml(const double resolution, const Eigen::Vector2d& origin,
               const std::string& path_failename,
               const std::string& pgm_filename);
}  // namespace io
}  // namespace slam

#endif  // SLAM_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_
